Photovoltaic array semifinished product mounting device

Abstract

A photovoltaic array semifinished product (2000) mounting device (1000), comprising: a gantry body (100), comprising a vertical supporting assembly (11), a transverse supporting assembly (12), and a locomotion mechanism assembly (13), wherein the transverse supporting assembly (12) is borne on one side of the vertical supporting assembly (11) in the vertical direction, the locomotion mechanism assembly (13) is arranged on the other side of the vertical supporting assembly (11) in the vertical direction, and the transverse supporting assembly (12) and the vertical supporting assembly (11) define and form an operation space; a carriage (200), comprising a frame (21), wherein the frame (21) is slidably connected to the transverse supporting assembly (12) of the gantry body (100) and can be connected to a lifting appliance (900), the lifting appliance (900) is configured to hoist the photovoltaic array semifinished product (2000) in the operation space, and the photovoltaic array semifinished product (2000) comprises a plurality of photovoltaic panels; and a fine-adjustment device (300) configured to drive the lifting appliance (900) to move in a first direction (X) and / or a second direction (Y) relative to the frame (21), so as to adjust the position of the lifting appliance (900) in the first direction (X) and / or the second direction (Y), thereby accurately aligning and mounting the photovoltaic array semifinished product (2000), and improving the mounting operation efficiency and the mounting precision.

Description

Photovoltaic array semi-finished product installation device

[0001] Cross-reference to Related Applications

[0002] This application claims priority to Chinese Patent Application No. 202420791293.9, filed April 16, 2024, entitled “Photovoltaic array semi-finished product installation device,” the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present application belongs to the technical field of photovoltaic panel installation, and particularly relates to a photovoltaic array semi-finished product installation device. BACKGROUND

[0004] The photovoltaic array unit (photovoltaic array square) is the core part of the entire power generation system. The existing photovoltaic array square is mainly formed by manually assembling multiple photovoltaic panels to photovoltaic supports. The photovoltaic support is large in size, and each photovoltaic panel is heavy, making installation difficult. In addition, repeated on-site size measurements are required, resulting in a long construction period and low installation efficiency.

[0005] Therefore, there is an urgent need for an installation device that can meet the installation requirements of photovoltaic panels. SUMMARY

[0006] The embodiments of the present application provide a photovoltaic array semi-finished product installation device that can accurately dock and install photovoltaic array semi-finished products with high installation efficiency.

[0007] The embodiments of the present application provide a photovoltaic array semi-finished product installation device, which includes: a main vehicle including a vertical support assembly, a horizontal support assembly, and a walking mechanism assembly, the horizontal support assembly being carried on one side of the vertical support assembly along the vertical direction, the walking mechanism assembly being arranged on the other side of the vertical support assembly along the vertical direction, the horizontal support assembly and the vertical support assembly enclosing and constituting a working space; a trolley including a trolley frame, the trolley frame being slidably connected to the horizontal support assembly of the main vehicle and being connectable to a lifting appliance, the lifting appliance being configured to hoist a photovoltaic array semi-finished product in the working space, the photovoltaic array semi-finished product including multiple photovoltaic panels; a micro-motion device configured to drive the lifting appliance to move relative to the trolley frame along a first direction and / or a second direction to adjust the position of the lifting appliance in the first direction and / or the second direction, the first direction, the second direction, and the vertical direction intersecting with each other; one of the first direction and the second direction being the direction of travel of the main vehicle, and the other being the sliding direction of the trolley frame along the main vehicle.

[0008] Optionally, the photovoltaic array semi-finished product installation device further includes a connecting device configured to connect the lifting appliance; the micro-motion device is arranged on the trolley frame, at least a part of the connecting device is fixed on the micro-motion device, and the micro-motion device is slidably connected to the trolley frame along the first direction and / or the second direction to drive the at least a part of the connecting device to move, thereby driving the lifting appliance to move.

[0009] Optionally, the micro-motion device comprises a first micro-motion mechanism and a second micro-motion mechanism, the first micro-motion mechanism is slidably connected to the vehicle frame in the first direction, and the second micro-motion mechanism is slidably connected to the first micro-motion mechanism in the second direction, and at least a part of the connecting device is fixed on the second micro-motion mechanism.

[0010] Optionally, the first micro-motion mechanism comprises at least one support frame, the at least one support frame supports the second micro-motion mechanism and is slidably connected to the vehicle frame, and the at least one support frame can slide in the first direction to drive the second micro-motion mechanism and the lifting device to move in the first direction; the second micro-motion mechanism comprises a first bearing frame and a second bearing frame for bearing the connecting device, the first bearing frame and the second bearing frame are oppositely arranged in the first direction and are slidably connected to the first micro-motion mechanism, and the first bearing frame and the second bearing frame are configured to slide in the second direction to drive the lifting device to move in the second direction and to slide in the second direction in the opposite direction to drive the lifting device to rotate in the horizontal plane.

[0011] Optionally, the photovoltaic array semi-finished product mounting device further comprises a first driving mechanism and a second driving mechanism: the first driving mechanism comprises at least one driving unit, the driving unit comprises a first power module, the first power module is arranged on the vehicle frame and is connected to the at least one support frame to drive the at least one support frame to slide in the first direction; or, the first driving mechanism comprises a first power module and a first transmission assembly, the first power module is arranged on the vehicle frame, and the first transmission assembly is configured to transmit power output by the first power module to the at least one support frame to drive the at least one support frame to slide in the first direction; the second driving mechanism comprises two driving modules respectively driving the first bearing frame and the second bearing frame, each driving module comprises a second power module, the second power module is arranged on the first micro-motion mechanism and is connected to the first bearing frame or the second bearing frame to drive the first bearing frame or the second bearing frame to slide in the second direction; or, each driving module comprises a second power module and a second transmission assembly, the second power module is arranged on the first micro-motion mechanism, and the second transmission assembly is configured to transmit power output by the second power module to the first bearing frame or the second bearing frame to drive the first bearing frame or the second bearing frame to slide in the second direction.

[0012] Optionally, the lifting device comprises a frame assembly and a suction assembly, the suction assembly comprises a plurality of suction cups spacedly arranged on the frame assembly to suck a plurality of photovoltaic panels of the photovoltaic array semi-finished product.

[0013] Optionally, the lifting device further comprises at least two vacuum pumping assemblies for the plurality of suction cups, the suction cups connected to the same vacuum pumping assembly are in the same passage, and each vacuum pumping assembly independently operates to independently provide negative pressure to the corresponding passage thereof.

[0014] Optionally, the frame assembly comprises at least one main beam and a plurality of auxiliary beams, the plurality of auxiliary beams are spaced apart along the extension direction of the main beam and arranged to intersect the main beam, and the plurality of suction cups are spaced apart on the auxiliary beams; the at least four suction cups are used to adsorb the single photovoltaic panel, and the at least four suction cups correspond to the at least two vacuum pumping assemblies.

[0015] Optionally, the lifting appliance further comprises a distance measuring element mounted on the frame assembly, and the distance measuring element is configured to output measurement information related to the compression degree of the suction cup.

[0016] Optionally, the photovoltaic array semi-finished product mounting device further comprises a detection device arranged on the main vehicle and / or the trolley, and configured to detect position information of the photovoltaic support used for mounting the photovoltaic array semi-finished product, so as to determine the target stop position of the trolley.

[0017] Optionally, the detection device is further configured to detect position information of the photovoltaic array semi-finished product; the photovoltaic array semi-finished product mounting device further comprises a control mechanism connected with the micro-motion device, and configured to drive the micro-motion device to move in the first direction and / or the second direction according to the position information of the photovoltaic array semi-finished product and the photovoltaic support when the trolley stops at the target stop position and the photovoltaic array semi-finished product and the photovoltaic support are not horizontally aligned.

[0018] Optionally, the walking mechanism assembly comprises a plurality of walking mechanisms, and the plurality of walking mechanisms comprises at least one caterpillar walking mechanism.

[0019] Optionally, the plurality of walking mechanisms comprises four or more caterpillar walking mechanisms, and the four or more caterpillar walking mechanisms are spaced apart on one side of the vertical support assembly along the vertical direction.

[0020] Optionally, the caterpillar walking mechanism is hinged to the vertical support assembly, and comprises a one-to-one caterpillar walking unit and a driving unit, the caterpillar walking unit comprises a driving wheel, a driven wheel and a caterpillar belt, and the driving unit comprises a power output module configured to provide power to the driving wheel, and the driving wheel drives the driven wheel to rotate via the caterpillar belt.

[0021] Optionally, the part of the section of the vehicle frame extends out of the lateral support assembly along the traveling direction of the main vehicle.

[0022] Optionally, the vehicle frame comprises a first section, a second section and a third section arranged side by side in sequence along the traveling direction, and the first section and the third section extend out of the lateral support assembly in opposite directions along the traveling direction, respectively.

[0023] Optionally, the length of the first section along the traveling direction is the same as the length of the third section along the traveling direction.

[0024] Optionally, the vertical support assembly comprises two or more support units arranged along the sliding direction of the vehicle frame; each support unit comprises two brackets arranged along the travelling direction, each bracket being connected to the horizontal support assembly; the two brackets of each support unit extend towards each other along the travelling direction from bottom to top.

[0025] Optionally, the vertical support assembly comprises two or more support units arranged along the sliding direction; each support unit comprises two or more brackets and at least one bottom beam, the two or more brackets being arranged along the travelling direction, each bracket being connected to the horizontal support assembly; the bottom beam is connected between the ends of adjacent brackets along the vertical direction adjacent to the walking mechanism assembly.

[0026] Optionally, the bottom beam is provided with a recess at the middle part along the travelling direction, the recess being recessed towards the walking surface of the walking mechanism assembly to provide a receiving space; the outer bottom wall of the recess is higher than the bottom part of the walking mechanism assembly along the vertical direction.

[0027] Optionally, the photovoltaic array semi-finished product mounting device further comprises a control device arranged in the recess of one of the support units; an anti-collision mechanism of the control device is arranged in the support unit and comprises a plurality of guardrails.

[0028] Optionally, the walking mechanism assembly comprises a plurality of walking mechanisms, and the opposite ends of the bottom beam along the travelling direction are respectively hinged to at least one walking mechanism.

[0029] Optionally, the vertical support assembly comprises two or more support units arranged along the sliding direction; the horizontal support assembly and each support unit are detachably connected in the form of an integral piece; the horizontal support assembly and the support unit are provided with electronic circuits, and the electronic circuits of the horizontal support assembly and the support unit are detachably connected through a plug-in connector.

[0030] Optionally, the vertical support assembly comprises two or more support units arranged along the sliding direction; each support unit comprises two or more brackets and at least one auxiliary mounting beam, the two or more brackets being arranged along the travelling direction, each bracket being connected to the horizontal support assembly; the auxiliary mounting beam is connected between adjacent brackets, and the length of the auxiliary mounting beam along the travelling direction is adjustable.

[0031] Optionally, the horizontal support assembly comprises two or more horizontal beams arranged along the travelling direction, each horizontal beam extending across the vertical support assembly along the sliding direction; the horizontal support assembly further comprises two or more connecting beams arranged along the sliding direction, each connecting beam being connected between adjacent horizontal beams, each connecting beam comprising at least three connecting sections arranged along the travelling direction, and adjacent connecting sections being detachably connected.

[0032] The photovoltaic array panel finished product mounting device provided by the embodiment of the present application comprises a main vehicle, a trolley and a micro-motion device. The vertical support assembly and the transverse support assembly of the main vehicle enclose a working space, and the support effect of the main vehicle structure is more stable. The frame of the trolley can be connected with a lifting appliance, and the lifting appliance can hoist a photovoltaic array semi-finished product formed by splicing a plurality of photovoltaic panels. The micro-motion device can drive the lifting appliance to move along the advancing direction of the main vehicle and / or the frame to move along the sliding direction of the main vehicle, so as to adjust the position of the lifting appliance in the two directions, and fine adjustment of the hoisting position of the lifting appliance is realized. Therefore, the photovoltaic array panel finished product mounting device provided by the embodiment of the present application can directly hoist the photovoltaic array semi-finished product to the to-be-mounted position and accurately butt joint and mount the photovoltaic array semi-finished product, thereby improving the mounting efficiency and mounting accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced as follows. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0034] FIG. 1 is a structural schematic diagram of a photovoltaic array semi-finished product according to an embodiment of the present application.

[0035] FIG. 2 is a structural schematic diagram of a photovoltaic array semi-finished product mounting device according to an embodiment of the present application.

[0036] FIG. 3 is a side view structural schematic diagram of a photovoltaic array semi-finished product mounting device according to an embodiment of the present application in a mounting state.

[0037] FIG. 4 is a structural schematic diagram of a trolley and a micro-motion device of a photovoltaic array semi-finished product mounting device according to an embodiment of the present application.

[0038] FIG. 5 is a structural schematic diagram of a trolley and a micro-motion device of a photovoltaic array semi-finished product mounting device according to another embodiment of the present application.

[0039] FIG. 6 is a structural schematic diagram of a walking mechanism assembly of a photovoltaic array semi-finished product mounting device according to an embodiment of the present application.

[0040] FIG. 7 is a structural schematic diagram of a main vehicle of a photovoltaic array semi-finished product mounting device according to an embodiment of the present application.

[0041] FIG. 8 is a side view structural schematic diagram of a photovoltaic array semi-finished product mounting device according to an embodiment of the present application. DETAILED DESCRIPTION

[0042] Features and exemplary embodiments of various aspects of the present application will be described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one of ordinary skill in the art that the present application can be practiced without some or all of these specific details. The description of the embodiments is merely intended to provide a better understanding of the present application by showing examples of the present application. In the drawings and the following description, well-known structures and techniques are not shown in order to avoid obscuring the present application; and, for clarity, the size of some structures can be exaggerated. Furthermore, features described hereinafter can be combined in any suitable manner in one or more embodiments.

[0043] In the description of the present application, it should be noted that, unless otherwise specified, the meaning of "a plurality of" is more than two; the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer" and the like is merely for the purpose of facilitating the description of the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0044] The orientation words appearing in the following description are the directions shown in the drawings, and do not limit the specific structure of the embodiments of the present application. In the description of the present application, it should also be noted that, unless otherwise specified and limited, the terms "mounting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0045] In order to better understand the present application, the photovoltaic array semi-finished product mounting device of the embodiments of the present application will be described in detail below in conjunction with FIGS. 1-8.

[0046] The photovoltaic array semi-finished product mounting device provided by the embodiments of the present application can hoist the product of the photovoltaic array semi-finished product. The photovoltaic array semi-finished product includes a plurality of photovoltaic panels arranged in a certain form, which are fixed together by fixing means, for example, but not limited to, connected and fixed by at least one connecting beam arranged on the back of the photovoltaic panel.

[0047] Figure 1 shows a non-limiting example of a photovoltaic array semi-finished product 2000. The connecting beams include a plurality of purlins 2001 and a plurality of diagonal beams 2002. The plurality of purlins 2001 are arranged in parallel and spaced apart from each other, and the plurality of diagonal beams 2002 are arranged in parallel and spaced apart from each other. The purlins 2001 intersect the diagonal beams 2002 and are stacked to form a frame. A plurality of photovoltaic panels 2003 are arranged in an array and mounted on the side of the purlins 2001 away from the diagonal beams 2002 to form the photovoltaic array semi-finished product. In other examples, the connecting beams can also include a main shaft capable of rotating the photovoltaic panels therearound.

[0048] The assembly of the photovoltaic array semi-finished product 2000 can be performed in a factory. Compared with outdoor photovoltaic installation site assembly, the assembly process can rely on professional equipment, which is beneficial to improve installation accuracy and installation efficiency. When installing the assembled photovoltaic array semi-finished product, the lifting appliance and installation equipment provided by the embodiments of the present application can be used to perform lifting, transfer and installation operations on the photovoltaic array semi-finished product.

[0049] As shown in Figures 2 and 3, the photovoltaic array semi-finished product installation equipment 1000 provided by the embodiments of the present application includes a main vehicle 100, a trolley 200 and a micro-motion device 300. The main vehicle 100 includes a vertical support assembly 11, a horizontal support assembly 12 and a traveling mechanism assembly 13. The horizontal support assembly 12 is carried on the side of the vertical support assembly 11 along the vertical direction, and the traveling mechanism assembly 13 is arranged on the other side of the vertical support assembly 11 along the vertical direction. The horizontal support assembly 12 and the vertical support assembly 11 enclose and form a working space. The trolley 200 includes a trolley frame 21, which is slidingly connected to the horizontal support assembly 12 of the main vehicle 100 and can be connected to a lifting appliance 900. The lifting appliance 900 is configured to lift a photovoltaic array semi-finished product in the working space, and the photovoltaic array semi-finished product includes a plurality of photovoltaic panels. The micro-motion device 300 is configured to drive the lifting appliance 900 to move relative to the trolley frame 21 along a first direction X and / or a second direction Y to adjust the position of the lifting appliance 900 in the first direction X and / or the second direction Y. The first direction X, the second direction Y and the vertical direction intersect each other in pairs. One of the first direction X and the second direction Y is the direction of travel of the main vehicle 100, and the other is the sliding direction of the trolley frame 21 along the main vehicle 100.

[0050] In the embodiments provided by the present application, the main vehicle 100 moves to a predetermined position by the traveling mechanism assembly 13. The trolley frame 21 is slidingly connected to the main vehicle 100 and can adjust the position of the trolley 200 as a whole relative to the main vehicle 100. The sliding of the trolley frame 21 relative to the main vehicle 100 can be long-distance sliding, which is used to adjust the working space of the lifting appliance 900. The sliding of the lifting appliance 900 relative to the trolley frame 21 along the first direction X and / or the second direction Y by the micro-motion device 300 can be short-distance sliding, which is used to fine-tune the position of the lifting appliance 900 in the working space to facilitate the installation of the photovoltaic array semi-finished product.

[0051] One of the first direction X and the second direction Y is a running direction of the host vehicle 100, and the other is a sliding direction of the trolley 21 along the host vehicle 100. The sliding direction of the trolley 21 relative to the host vehicle 100 intersects the running direction of the host vehicle 100. Alternatively, the first direction X can be the running direction of the host vehicle 100, and the second direction Y can be the sliding direction of the trolley 21 along the host vehicle 100. It can be understood that, as other examples, the first direction X can also be the sliding direction of the trolley 21 along the host vehicle 100, and the second direction Y can be the running direction of the host vehicle 100.

[0052] Alternatively, the micro-motion device 300 can drive the lifting appliance 900 to move relative to the trolley 21 along the first direction X to adjust the position of the lifting appliance 900 in the first direction X. Alternatively, the micro-motion device 300 can drive the lifting appliance 900 to move relative to the trolley 21 along the second direction Y to adjust the position of the lifting appliance 900 in the second direction Y. Alternatively, the micro-motion device 300 can also drive the lifting appliance 900 to move relative to the trolley 21 along the first direction X and the second direction Y to adjust the position of the lifting appliance 900 in the first direction X and the second direction Y.

[0053] The host vehicle 100 of the photovoltaic array semi-finished product installation equipment 1000 provided in the embodiments of the present application is surrounded by the vertical support assembly 11 and the transverse support assembly 12 to form a working space, and the support effect of the structure of the host vehicle 100 is more stable. The trolley 21 of the trolley 200 can be connected to the lifting appliance 900, and the lifting appliance 900 can hoist the photovoltaic array semi-finished product formed by splicing a plurality of photovoltaic panels in the working space. The micro-motion device 300 can drive the lifting appliance 900 to move along the running direction of the host vehicle 100 and / or the sliding direction of the trolley 21 along the host vehicle 100 to adjust the position of the lifting appliance 900 in the two directions, thereby realizing fine adjustment of the hoisting position of the lifting appliance 900. Therefore, the photovoltaic array semi-finished product installation equipment 1000 in the embodiments of the present application can directly hoist the photovoltaic array semi-finished product to the installation position and accurately dock and install the photovoltaic array semi-finished product, thereby improving the installation efficiency and installation precision.

[0054] In the embodiments of the present application, the two slidingly connected means are movable relative to each other in a certain direction. For the two slidingly connected means, the specific implementation form of the sliding connection is not limited, which can be a structure such as a sliding rail, a sliding groove, or a sliding channel, and any combination of a sliding block, a pulley, and a roller, or any other form capable of realizing relative sliding of the two.

[0055] In some optional embodiments, as shown in FIG. 2, FIG. 3 and FIG. 4, the photovoltaic array semi-finished product installation device 1000 further comprises a connecting device 400 configured to connect the lifting appliance 900. The micro-motion device 300 is arranged on the vehicle frame 21, and at least a part of the connecting device 400 is fixed on the micro-motion device 300. The micro-motion device 300 is slidably connected to the vehicle frame 21 along the first direction X and / or the second direction Y to drive the at least a part of the connecting device 400 to move, thereby driving the lifting appliance 900 to move.

[0056] In these optional embodiments, the micro-motion device 300 is arranged on the vehicle frame 21, and the micro-motion device 300 is carried by the vehicle frame 21. The weight of the micro-motion device 300 is entirely applied to the vehicle frame 21, so that the support strength and stability are better. Moreover, the structure of the micro-motion device 300 is more compact, and the setting of the lifting appliance 900 and the adjustment of the hoisting position are more convenient.

[0057] Optionally, the number of the connecting devices 400 can be multiple, and the multiple connecting devices 400 can be connected to different positions of the lifting appliance 900. The connection positions between the multiple connecting devices 400 and the lifting appliance 900 can be relatively uniformly distributed. The vertical length of each connecting device 400 can be adjusted to adjust the vertical height position of the lifting appliance 900. The vertical length of each connecting device 400 can be independently adjusted to adjust the spatial orientation and azimuth angle of the lifting appliance 900, thereby facilitating the flexible realization of the installation angle of the photovoltaic array semi-finished product. For example, the vertical length of the connecting device 400 connected to one side of the lifting appliance 900 is adjusted to be smaller than the vertical length of the connecting device 400 connected to the other side of the lifting appliance 900, so that the lifting appliance 900 can be in an inclined state.

[0058] Optionally, the connecting device 400 can be arranged on the side of the micro-motion device 300 facing the running surface of the main vehicle 100 in the vertical direction, which is conducive to reducing the center of gravity of the trolley 200 and the photovoltaic array semi-finished product installation device 1000, and strengthening the structural stability.

[0059] For example, the connecting device 400 can comprise a winding mechanism 41 and a connecting rope 42. The winding mechanism 41 is fixed to the micro-motion device 300, and at least part of the connecting rope 42 is wound around the winding mechanism 41. The winding mechanism 41 is connected to the lifting appliance 900 through the connecting rope 42, and the winding mechanism 41 is configured to adjust the length of the connecting device 400 by winding the connecting rope 42.

[0060] It can be understood that, as another example, the winding mechanism 41 can also be fixedly connected to the vehicle frame 21, and the connecting rope 42 is connected to the micro-motion device 300 after passing through the connection point of the lifting appliance 900.

[0061] Optionally, the winding mechanism 41 can include a winding drum and a driving structure, and the at least part of the connecting rope 42 is wound on the winding drum. The driving mechanism can drive the winding drum to rotate in different directions, so as to lengthen or shorten the length of the connecting rope not wound on the winding drum.

[0062] In some optional embodiments, as shown in FIG. 4 and FIG. 5, the micro-motion device 300 includes a first micro-motion mechanism 31 and a second micro-motion mechanism 32, the first micro-motion mechanism 31 is slidably connected to the vehicle frame 21 along a first direction X, the second micro-motion mechanism 32 is slidably connected to the first micro-motion mechanism 31 along a second direction Y, and at least part of the connecting device 400 is fixed on the second micro-motion mechanism 32.

[0063] In these optional embodiments, at least part of the connecting device 400 is fixed on the second micro-motion mechanism 32, and the second micro-motion mechanism 32 can drive the connecting device 400 to slide along the second direction Y. After the connecting device 400 is connected to the lifting appliance 900, the micro-motion device 300 can adjust the position of the lifting appliance 900 along the second direction Y through the second micro-motion mechanism 32, and adjust the position of the second micro-motion mechanism 32 along the first direction X through the first micro-motion mechanism 31, so as to adjust the position of the connecting device 400 and the lifting appliance 900 along the first direction X. The combination of the first micro-motion mechanism 31 and the second micro-motion mechanism 32 can realize accurate determination and fine adjustment of the lifting position.

[0064] The first micro-motion mechanism 31 of the micro-motion device 300 is directly borne on the vehicle frame 21, and the second micro-motion mechanism 32 is borne on the first micro-motion mechanism 31. The weight of the second micro-motion mechanism 32 can indirectly act on the vehicle frame 21 through the first micro-motion mechanism 31, so that the support strength and stability are good. In addition, by arranging two micro-motion mechanisms, the design of the micro-motion mechanism can be simplified while realizing the adjustment along the first direction and the second direction.

[0065] In some optional embodiments, the first micro-motion mechanism 31 includes at least one support frame, the at least one support frame supports the second micro-motion mechanism 32 and is slidably connected to the vehicle frame 21, and the at least one support frame can slide along the first direction X to drive the second micro-motion mechanism 32 and the lifting appliance 900 to move along the first direction X. The second micro-motion mechanism 32 includes a first bearing frame 321 and a second bearing frame 322 for bearing the connecting device 400, the first bearing frame 321 and the second bearing frame 322 are oppositely arranged along the first direction X and are slidably connected to the first micro-motion mechanism 31, and the first bearing frame 321 and the second bearing frame 322 are configured to slide along the second direction Y in the same direction to drive the lifting appliance 900 to move along the second direction Y, and slide along the second direction Y in the opposite direction to drive the lifting appliance 900 to rotate in the horizontal plane.

[0066] Optionally, as shown in FIG. 4, the first micro-motion mechanism 31 can include a single support frame 311, which is vertically stacked with the vehicle frame 21 or is in the same horizontal plane as the vehicle frame 1. The single-frame structure design of the first micro-motion mechanism 31 can make the driving of the first micro-motion mechanism 31 simpler. At this time, the first carrier frame 321 and the second carrier frame 322 are both slidingly connected to the support frame 311.

[0067] Optionally, as shown in FIG. 5, the first micro-motion mechanism 31 can also include a first support frame 312 and a second support frame 313, which together support the second micro-motion mechanism 32 and are slidingly connected to the vehicle frame 21. The first support frame 312 and the second support frame 313 are configured to slide in the same direction along the first direction X. At this time, the first carrier frame 321 and the second carrier frame 322 can be slidingly connected to the first support frame 312 and the second support frame 313, respectively. The first micro-motion mechanism 31 in the form of two support frames can reduce the weight of the first micro-motion mechanism, lower the center of gravity of the trolley and the installation device, and strengthen the structural stability.

[0068] The first carrier frame 321 and the second carrier frame 322 can slide in the same direction along the second direction Y, thereby moving the spreader 900 along the second direction Y and adjusting the position of the spreader 900 in the second direction Y. The first carrier frame 321 and the second carrier frame 322 can also slide in opposite directions along the second direction Y to move the opposite ends of the spreader 900 along the second direction Y in opposite directions, achieving the purpose of rotating the spreader 900 in the horizontal plane.

[0069] In some optional embodiments, the photovoltaic array semi-finished product installation device 1000 further includes a first driving mechanism and a second driving mechanism. The first driving mechanism includes at least one driving unit. In one example, the driving unit includes a first power module and a first transmission assembly, the first power module is provided on the vehicle frame 21, and the first transmission assembly is configured to transmit power output by the first power module to at least one support frame to drive at least one support frame to slide along the first direction X. In another example, the driving unit includes a first power module, the first power module is provided on the vehicle frame 21 and is connected to at least one support frame to drive at least one support frame to slide along the first direction X. In the case of a single support frame of the first micro-motion mechanism, a single driving unit can be used for driving; in the case of a double support frame of the first micro-motion mechanism, a single driving unit can be used for driving, or two or more driving units can be used for driving.

[0070] The second driving mechanism includes two driving modules respectively driving the first carrier 321 and the second carrier 322. In one example, each driving module includes a second power module and a second transmission assembly. The second power module is arranged at the first micro-motion mechanism 31, and the second transmission assembly is configured to transmit power output by the second power module to the first carrier 321 or the second carrier 322 to drive the first carrier 321 or the second carrier 322 to slide in the second direction Y. In another example, each driving module includes a second power module, which is arranged at the first micro-motion mechanism 31 and connected to the first carrier 321 or the second carrier 322 to drive the first carrier 321 or the second carrier 322 to slide in the second direction Y.

[0071] In these optional embodiments, the first power module is capable of generating and outputting power, and the power output by the first power module is transmitted to the first micro-motion mechanism 31 directly or through the first transmission assembly, thereby driving the at least one support frame to slide in the first direction X, achieving the position adjustment of the first micro-motion mechanism 31, the second micro-motion mechanism 32, and the spreader 900 in the first direction X.

[0072] In these optional embodiments, the two driving modules of the second driving mechanism are independently arranged to independently drive the first carrier 321 and the second carrier 322 to slide in the second direction Y, and the structure is simple. One of the driving modules is directly or through the second transmission assembly connected to the first carrier 321 to transmit the power output by the second power module of the driving module to the first carrier 321, thereby driving the first carrier 321 to slide in the second direction Y. The other driving module is directly or through the second transmission assembly connected to the second carrier 322 to transmit the power output by the second power module of the driving module to the second carrier 322, thereby driving the second carrier 322 to slide in the second direction Y.

[0073] Optionally, the first power module and the second power module can each include a motor. Further, at least one of the first power module and the second power module can further include a speed reduction mechanism to output power through the speed reduction mechanism. Alternatively, the first power module and the second power module can each include a single-port or double-port telescopic pneumatic cylinder, a single-port or double-port hydraulic cylinder, etc.

[0074] Optionally, the first transmission assembly and the second transmission assembly can each include one or more of a gear and rack transmission assembly, a chain wheel and chain transmission assembly, a worm and gear transmission assembly, a transmission belt assembly, or any other suitable transmission assembly.

[0075] In some alternative embodiments, each of the plurality of connecting devices 400 is at least partially fixed to the second micro-motion mechanism 32, such that the second micro-motion mechanism 32 connects the lifting device 900 through the plurality of connecting devices 400. Specifically, the first carrier 321 and the second carrier 322 respectively carry the plurality of connecting devices 400, and sliding of the first carrier 321 and the second carrier 322 in the same direction along the second direction Y can drive the lifting device 900 to move along the second direction Y through the connecting devices 400, and sliding of the first carrier 321 and the second carrier 322 in opposite directions along the second direction Y can drive the lifting device 900 to rotate in the horizontal plane through the connecting devices 400.

[0076] In these alternative embodiments, the plurality of connecting devices 400 are distributed along the second direction Y on the first carrier 321 or the second carrier 322, such that the plurality of connecting devices 400 can be connected to the lifting device 900 at a plurality of different positions along the second direction Y, improving the connection stability.

[0077] In these alternative embodiments, the first carrier 321 and the second carrier 322 are oppositely arranged along the first direction X, and the first carrier 321 and the second carrier 322 respectively carry the plurality of connecting devices 400. Therefore, the plurality of connecting devices 400 can be distributed in an array along the first direction X and the second direction Y, improving the connection stability between the connecting devices 400 and the lifting device 900.

[0078] Alternatively, the first carrier 321 and the second carrier 322 can respectively carry two connecting devices 400, and the two connecting devices 400 are arranged at intervals along the second direction Y.

[0079] Although the micro-motion device is described as including the first micro-motion mechanism and the second micro-motion mechanism in the above embodiments, it can be understood that the micro-motion device can include only one micro-motion mechanism in one direction according to specific needs, and the specific structure, driving mode and connection mode with the connecting device can be referred to the above description, which will not be described here.

[0080] In some alternative embodiments, as shown in FIG. 2, the lifting device 900 includes a frame assembly 91 and a suction assembly, and the suction assembly includes a plurality of suction cups 92 distributed at intervals on the frame assembly 91 to suck a plurality of photovoltaic panels of the photovoltaic array semi-finished product.

[0081] In these alternative embodiments, the lifting device 900 is installed with the plurality of suction cups 92 through the frame assembly 91, and can simultaneously suck a plurality of photovoltaic panels, so that the lifting device 900 can one-time grab and hoist the photovoltaic array semi-finished product formed by assembling a single photovoltaic panel to perform assembly work, improving the installation efficiency of the photovoltaic panel while ensuring the reliability of the photovoltaic panel hoisting process.

[0082] Optionally, the plurality of suction cups 92 can be arranged in an array to form a plurality of suction elements, each of the suction elements comprising the plurality of suction cups 92 and being capable of independently sucking a photovoltaic panel. The suction elements and the photovoltaic panels form a plurality of suction positions, and the suction stability and reliability are good.

[0083] In some optional embodiments, the lifting tool 900 further comprises at least two vacuum-pumping assemblies for the plurality of suction cups 92, the suction cups 92 connected to the same vacuum-pumping assembly are in the same passage, and each of the vacuum-pumping assemblies independently operates to independently provide negative pressure to the passage corresponding thereto.

[0084] In these optional embodiments, each of the vacuum-pumping assemblies independently operates to independently provide negative pressure to the passage corresponding thereto, and the plurality of suction cups 92 in the same passage has a rated load capacity. Even if an individual suction cup is interfered by sand, a damaged sealing ring, or the like, and loses the ability of air leakage and negative pressure suction, the entire suction assembly and the multi-pass vacuum-pumping assembly can still ensure the reliability of the photovoltaic panel hoisting process.

[0085] Optionally, each of the vacuum-pumping assemblies comprises a vacuum pump, at least one gas collector, and a plurality of connecting pipes, the vacuum pump can provide negative pressure, the connecting pipes are connected to the suction cups, and the gas collector is connected to the vacuum pump and the connecting pipes and can correspond to the plurality of connecting pipes.

[0086] In some optional embodiments, the frame assembly 91 comprises at least one main beam 911 and a plurality of auxiliary beams 912, the plurality of auxiliary beams 912 are spaced apart along the extension direction of the main beam 911 and are arranged to intersect the main beam 911, and the plurality of suction cups 92 are spaced apart on the auxiliary beams 912. At least four suction cups 92 suck a single photovoltaic panel, and the at least four suction cups 92 correspond to at least two vacuum-pumping assemblies.

[0087] Optionally, each of the photovoltaic panels corresponds to a first suction cup group and a second suction cup group, the first suction cup group and the second suction cup group are connected to different vacuum-pumping assemblies, in other words, the negative pressure sources inside the first suction cup group and the second suction cup group are independent of each other.

[0088] It can be understood that the vacuum pump is used to provide negative pressure for the suction cups 92, the main beam 911 is symmetrically provided with gas collectors on both sides, the suction cups 92 in each of the first suction cup group and the second suction cup group are diagonally arranged, and the suction cups 92 in each of the first suction cup group and the second suction cup group of the same suction element are respectively connected to different gas collectors, so that the first suction cup group and the second suction cup group can be at the terminals of independent air-pumping pipelines.

[0089] In some optional embodiments, as shown in FIG. 3, the lifting tool 900 further comprises a distance measuring element 95 mounted on the frame assembly 91, and the distance measuring element 95 is configured to output measurement information related to the compression degree of the suction cups 92.

[0090] In the optional embodiments, the suction cup 92 is configured to be adapted to generate an elastic compression amount d2 along the vertical direction when the suction element is in operation, the sealing degree T of the suction cup 92 connected to the photovoltaic panel is in positive proportion to the elastic compression amount d2, and the pressure P borne by the photovoltaic panel is in positive proportion to the elastic compression amount d2. The distance measuring member 95 is correspondingly arranged on at least one of the main beam 911 and the auxiliary beam 912, and is used to measure a monitoring signal of the pressure P borne by the photovoltaic panel. The elastic compression amount d2 includes a preset deformation threshold H1, and the monitoring signal of the distance measuring member 95 includes a signal threshold H2 corresponding to the deformation threshold H1.

[0091] It can be understood that the distance measuring member 95 extends towards the photovoltaic panel and is consistent with the compression direction of the suction cup 92. As the lifting appliance approaches the photovoltaic panel, the elastic compression amount d2 of the suction cup 92 gradually increases. When the elastic compression amount d2 reaches the deformation threshold H1, it represents that the pressure applied by the lifting appliance to the photovoltaic panel reaches a critical value. Accordingly, the sealing degree T between the suction cup 92 and the photovoltaic panel gradually increases. However, at the same time, as the elastic compression amount d2 increases, the pressure P borne by the photovoltaic panel gradually increases. If the pressure exceeds the maximum static load allowed by the photovoltaic panel, the suction process between the suction cup 92 and the photovoltaic panel will cause damage to the photovoltaic panel.

[0092] Therefore, by monitoring the compression degree of the suction cup 92 through the distance measuring member 95, the corresponding value of the pressure P borne by the photovoltaic panel can be obtained. When the monitoring signal of the distance measuring member 95 reaches the signal threshold H2, the operator controls to stop the movement of the lifting appliance towards the photovoltaic panel, thereby keeping the current elastic compression amount d2, sealing degree T and pressure P at a constant value, ensuring that the load applied by the lifting appliance to the photovoltaic panel is within a reasonable range, which not only ensures the stability and reliability of the hoisting process, but also prevents the photovoltaic panel from being damaged due to pressure during the hoisting process.

[0093] For example, the distance measuring member can be a strain probe or a proximity switch. The strain probe is provided with a sensing head at one end thereof facing the photovoltaic panel. During the suction operation, the sensing head is adapted to be in contact with the photovoltaic panel. When the sensing head is in contact with the photovoltaic panel, the monitoring signal can measure the pressure between the suction cup and the photovoltaic panel. Under the premise of ensuring the sealing of the suction cup, the suction cup is prevented from being pressed too tightly towards the photovoltaic panel, so as to avoid that the pressure applied by the lifting appliance to the photovoltaic panel is too large and exceeds the maximum static load allowed by the photovoltaic panel.

[0094] The bottom end of the proximity switch has a sensing surface. During the adsorption operation, the sensing surface is away from the photovoltaic panel by a distance d1, which corresponds to an elastic compression amount d2 of the suction cup. With the change of the elastic compression amount d2, the distance d1 changes synchronously. Therefore, the relative compression amount between the photovoltaic panel and the suction cup can be measured by the proximity switch, so as to reflect the size of the pressure applied by the lifting appliance to the photovoltaic panel, and to dynamically monitor the pressure to prevent the pressure from exceeding the maximum static load allowed by the photovoltaic panel and to avoid damage to the photovoltaic array semi-finished product during hoisting.

[0095] In some optional embodiments, as shown in FIG. 3, the photovoltaic array semi-finished product installation device 1000 further comprises a detection device 510 arranged on the main vehicle 100 and / or the trolley 200 and configured to detect position information of a photovoltaic support for installing the photovoltaic array semi-finished product to determine the target stopping position of the trolley 200.

[0096] In these optional embodiments, the detection device 510 can scan the photovoltaic support to obtain a three-dimensional image of at least one angle of the photovoltaic support; determine the position information of a preset column in the photovoltaic support according to the three-dimensional image; and determine the target stopping position of the trolley 200 according to the position information of the preset column. That is, the preset column can be taken as a reference target object of the target stopping position of the trolley 200.

[0097] Optionally, the detection device 510 can be one or more, and the one or more detection devices 510 scan the photovoltaic support from at least one angle to obtain corresponding three-dimensional images, and are connected to the detection device 510 to obtain the three-dimensional image information detected by the detection device 510. The detection device 510 includes but is not limited to a camera, a laser scanner, and other three-dimensional image acquisition and imaging devices.

[0098] Optionally, the detection device 510 can be arranged on the transverse support assembly 12, the vertical support assembly 11 or other support beams of the main vehicle 100. In this way, since the detection device 510 has an absolute positional relationship with the trolley 200, the target stopping position of the trolley 200 can be determined more accurately by scanning the photovoltaic support through the detection device 510.

[0099] In some optional embodiments, the detection device 510 is further configured to detect position information of the photovoltaic array semi-finished product. The photovoltaic array semi-finished product installation device 1000 further comprises a control mechanism connected to the micro-motion device 300 and configured to drive the micro-motion device 300 to move in the first direction X and / or the second direction Y according to the position information of the photovoltaic array semi-finished product and the photovoltaic support when the trolley 200 stops at the target stopping position and the photovoltaic array semi-finished product and the photovoltaic support are not horizontally aligned.

[0100] In these optional embodiments, after the trolley 200 stops at the target stop position, during the process that the connecting device 400 drives the lifting device 900 to vertically descend, the detection device 510 can detect the position information of the photovoltaic array semi-finished product in real time, the control mechanism can determine the position deviation between the photovoltaic array semi-finished product and the photovoltaic support in real time, and if the alignment in the horizontal plane is not accurate, the position of the photovoltaic array semi-finished product can be fine-tuned through the micro-motion device 300 to achieve accurate alignment between the photovoltaic array semi-finished product and the photovoltaic support in the horizontal plane.

[0101] Optionally, the detection device 510 can scan the photovoltaic array semi-finished product to obtain a three-dimensional image of at least one angle of the photovoltaic array semi-finished product; determine the position information of the photovoltaic array semi-finished product according to the three-dimensional image; and determine whether the photovoltaic array semi-finished product and the photovoltaic support are horizontally aligned according to the position information of the photovoltaic array semi-finished product and the position information of the photovoltaic support.

[0102] It can be understood that whether the photovoltaic array semi-finished product and the photovoltaic support are aligned can be determined by judging whether at least two point pairs on the photovoltaic array semi-finished product and the photovoltaic support are aligned, that is, the detection device 510 can obtain the position information of at least two points on the photovoltaic array semi-finished product and the position information of at least two points on the photovoltaic support.

[0103] In some optional embodiments, as shown in FIG. 6, the walking mechanism assembly 13 includes a plurality of walking mechanisms, and the plurality of walking mechanisms includes at least one caterpillar walking mechanism 131.

[0104] In these optional embodiments, the walking mechanism assembly 13 includes at least one caterpillar walking mechanism 131, the caterpillar walking mechanism 131 has a large contact area with the ground and good stability, which can improve the stability and reliability of the walking of the main vehicle 100, so that the photovoltaic array semi-finished product installation equipment 1000 can hoist large and high-weight photovoltaic array semi-finished products, and can also be suitable for desert, uneven and other various ground environments, thereby improving the environmental adaptability.

[0105] It can be understood that as other examples, the plurality of walking mechanisms can further include any other suitable type of walking mechanism different from the caterpillar walking mechanism 131. For example, the plurality of walking mechanisms can further include a wheel walking mechanism, and the wheel walking unit at least includes a traveling wheel.

[0106] In some optional embodiments, the plurality of walking mechanisms comprises four or more crawler walking mechanisms 131, which are distributed at intervals on one side of the vertical support assembly 11 along the vertical direction. Since the crawler walking mechanism 131 itself has a large size and good stability, the installation equipment using four or more crawler walking mechanisms 131 can install a larger photovoltaic array semi-finished product at one time, for example, but not limited to, 2 rows and 13 columns of photovoltaic arrays, which can greatly improve the installation efficiency, and at the same time, make the installation equipment more stable and have better environmental adaptability.

[0107] In these optional embodiments, the four or more crawler walking mechanisms 131 distributed at intervals on one side of the vertical support assembly 11 along the vertical direction can evenly support the vertical support assembly 11 and the transverse support assembly 12, further improving the stability of the main vehicle 100.

[0108] Alternatively, the four or more crawler walking mechanisms 131 can be distributed at four corners on one side of the vertical support assembly 11 along the vertical direction. Each corner on one side of the vertical support assembly 11 along the vertical direction can be provided with one or more crawler walking mechanisms 131.

[0109] In some optional embodiments, the crawler walking mechanism 131 is hinged to the vertical support assembly 11, and comprises a corresponding crawler walking unit 131a and a driving unit 131b. The crawler walking unit 131a comprises a driving wheel 1311, a driven wheel 1312 and a crawler belt 1313. The driving unit 131b comprises a power output module configured to provide power to the driving wheel 1311, and the driving wheel 1311 drives the driven wheel 1312 to rotate via the crawler belt 1313.

[0110] In these optional embodiments, the driving wheel 1311 rotates under the action of the power output by the power output module, the driving wheel 1311 drives the crawler belt 1313 to rotate, and the crawler belt 1313 drives the driven wheel 1312 to rotate, realizing the movement of the crawler walking unit 131a, and further realizing the walking of the crawler walking mechanism 131.

[0111] The crawler walking mechanism 131 is hinged to the vertical support assembly 11, and when the ground is uneven or uphill or downhill, the crawler walking mechanism 131 can rotate relative to the vertical support assembly 11, thereby increasing the contact area of the crawler walking mechanism 131 with the ground, effectively avoiding the problem that the crawler walking mechanism 131 is suspended or even unable to move due to road bumps, and enhancing the passability of the walking mechanism assembly 13.

[0112] The track walking units 131a of the track walking mechanisms 131 are driven to walk by a corresponding driving unit 131b, the driving units 131b of the track walking mechanisms 131 are independent of each other and do not affect each other. On the one hand, the power required by the whole walking mechanism assembly 13 can be dispersed to each driving unit 131b, which reduces the power requirement of a single driving unit 131b, is conducive to reducing the volume of a single driving unit 131b, improves the arrangement flexibility of the driving unit 131b, and further improves the environmental adaptability of the walking mechanism assembly 13; on the other hand, each track walking unit 131a can be independently controlled, which is conducive to the steering, uphill and downhill of the walking mechanism assembly 13, and improves the walking flexibility of the walking mechanism assembly 13.

[0113] Optionally, the power output module is located above the track walking unit 131a in the vertical direction perpendicular to the walking surface a (see FIG. 3), which increases the vertical height of the power output module to a certain extent, so that the power output module is above the walking surface a by a certain distance, thereby effectively avoiding the collision or interference of the power output module with the ground protrusions.

[0114] In some optional embodiments, as shown in FIG. 2, the part of the section of the vehicle frame 21 protrudes from the lateral support assembly 12 in the running direction of the main vehicle 100.

[0115] In these optional embodiments, the vehicle frame 21 has two opposite ends in the running direction of the main vehicle 100, and the section adjacent to at least one end protrudes from the lateral support assembly 12 in the running direction of the main vehicle 100 and is suspended on one side of the vertical support assembly 11 in the vertical direction.

[0116] Optionally, the trolley 200 further comprises a plurality of sliding assemblies 22, and the vehicle frame 21 is slidably connected to the main vehicle 100 through the plurality of sliding assemblies 22. At least part of the sliding assemblies 22 are arranged at the middle of the vehicle frame 21 in the running direction of the main vehicle 100, so that the part of the section of the vehicle frame 21 protrudes from the lateral support assembly 12.

[0117] Optionally, the second micro-motion mechanism 32 can be arranged on the section of the vehicle frame 21 protruding from the lateral support assembly 12.

[0118] In the embodiments of the present application, the part of the section of the vehicle frame 21 protrudes from the lateral support assembly 12, which can reduce the size of the lateral support assembly 12 in the running direction of the main vehicle 100 on the basis of meeting the installation operation requirements, so that the structure of the top of the photovoltaic array semi-finished product installation device 1000 is more compact, the volume of the device is reduced, and the gravity can be concentrated on the middle of the device in the running direction of the main vehicle 100, thereby improving the force balance and stability of the device.

[0119] In some optional embodiments, the vehicle frame 21 comprises a first section 211, a second section 212 and a third section 213 arranged side by side in sequence along the traveling direction of the main vehicle 100, the first section 211 and the third section 213 extend out of the lateral support assembly 12 in opposite directions along the traveling direction of the main vehicle 100 respectively.

[0120] In these optional embodiments, the first section 211 and the third section 213 both extend out of the lateral support assembly 12 in opposite directions. The first section 211 and the third section 213 can be two end sections of the vehicle frame 21, and the second section 212 can be a middle section of the vehicle frame 21.

[0121] Optionally, a plurality of sliding assemblies 22 can be arranged at the connection position between the second section 212 and the first section 211, and at the connection position between the second section 212 and the third section 213.

[0122] Optionally, at least one connecting device 400 and an anti-swing mechanism capable of being connected to the lifting harness 900 via an anti-swing rope or rigidly connected to the lifting harness 900 are arranged at positions corresponding to the first section 211 and the third section 213 respectively. The two carriers of the second micro-motion mechanism 32 can be arranged at the first section 211 and the third section 213 respectively.

[0123] In the embodiments of the present application, the first section 211 and the third section 213 of the vehicle frame 21 extend out of the lateral support assembly 12 in opposite directions along the traveling direction of the main vehicle 100, and the connecting device 400 can be arranged at the first section 211 and the third section 213 respectively. After the connecting device 400 is connected to the lifting harness 900, the lifting harness 900 can generate a more balanced pulling force on the vehicle frame 21, thereby improving the stability of the lifting harness 900 and the support stability of the vehicle frame 21.

[0124] In some optional embodiments, the length of the first section 211 along the traveling direction of the main vehicle 100 is the same as the length of the third section 213 along the traveling direction of the main vehicle 100. In other words, the first section 211 and the third section 213 extend out of the lateral support assembly 12 by the same length. Thus, the support effect of the lateral support assembly 12 on the trolley 200 and the pressure effect of the trolley 200 on the main vehicle 100 are more balanced, thereby improving the support stability of the lateral support assembly 12 on the trolley 200.

[0125] In some optional embodiments, as shown in FIGS. 2 and 7, the vertical support assembly 11 comprises two or more support units 11a arranged at intervals along the sliding direction of the vehicle frame 21; each support unit 11a comprises two brackets 111 arranged at intervals along the traveling direction of the main vehicle 100, and each bracket 111 is connected to the lateral support assembly 12. The two brackets 111 of each support unit 11a extend in opposite directions along the traveling direction of the main vehicle 100 from bottom to top.

[0126] In these alternative embodiments, the two brackets 111 of each support unit 11a extend obliquely towards each other from bottom to top, and the support unit 11a and the lateral support assembly 12 form a trapezoidal structure, which can further concentrate the load center of the main vehicle 100 and provide more stable support. In addition, in the case where the size of the lateral support assembly 12 along the travel direction of the main vehicle 100 is reduced, the trapezoidal structure can allow the connection of a larger size walking mechanism, such as a caterpillar walking mechanism.

[0127] Alternatively, the slopes of the two brackets 111 are the same, so that the support unit 11a and the lateral support assembly 12 form a symmetrical isosceles trapezoidal structure, and the force on each bracket 111 of the support unit 11a is more balanced, and the stability is better.

[0128] For example, the number of support units 11a can be two, and the two support units 11a can be connected to the opposite ends of the lateral support assembly 12 along the sliding direction of the trolley 200. It can be understood that, as another example, the two support units 11a can also be connected to the middle of the lateral support assembly 12 along the sliding direction of the trolley 200. As yet another example, one of the support units 11a is connected to one end of the lateral support assembly 12 along the sliding direction of the trolley 200, and the other support unit 11a is connected to the middle of the lateral support assembly 12 along the sliding direction of the trolley 200.

[0129] In some alternative embodiments, as shown in FIGS. 2 and 7, the vertical support assembly 11 includes two or more support units 11a arranged at intervals along the sliding direction of the trolley 200. Each support unit 11a includes two or more brackets 111 arranged at intervals along the travel direction of the main vehicle 100, and at least one bottom beam 112 connected to the ends of the adjacent brackets 111 along the vertical direction adjacent to the walking mechanism assembly 13.

[0130] In these alternative embodiments, the bottom beam 112 is connected between the ends of the adjacent brackets 111 along the vertical direction adjacent to the walking mechanism assembly 13, and the adjacent brackets 111 are connected through the bottom beam 112, which can improve the structural strength and support stability of the support unit 11a.

[0131] In some alternative embodiments, the bottom beam 112 is provided with a recess 1121 at the middle along the travel direction of the main vehicle 100, and the recess 1121 is recessed towards the walking surface a of the walking mechanism assembly 13 to provide an accommodation space. The outer bottom wall of the recess 1121 is higher than the bottom of the walking mechanism assembly 13 along the vertical direction.

[0132] Optionally, the vertical support assembly 11 comprises two support units 11a, and the bottom beam 112 of each support unit 11a is provided with a recess 1121 so as to facilitate the arrangement of the power device, the control device and the like of the photovoltaic array semi-finished product installation equipment 1000 in the corresponding recess 1121.

[0133] In the embodiments of the present application, the recess 1121 is formed in the middle part 1121 of the bottom beam 112, and the recess 1121 can provide a certain accommodation space for accommodating the power device, the control device or other devices of the photovoltaic array semi-finished product installation equipment 1000, and the structure design is ingenious. Arranging the power device, the control device and the like in the recess 1121 of the bottom beam 112 can further lower the gravity center of the photovoltaic array semi-finished product installation equipment 1000 and improve the stability of the photovoltaic array semi-finished product installation equipment 1000.

[0134] The outer bottom wall of the recess 1121 is higher than the bottom of the walking mechanism assembly 13 along the vertical direction, in other words, the lowest position of the recess 1121 is higher than the lowest position of the walking mechanism assembly 13, so as to avoid the recess 1121 from colliding with the ground protrusions or obstacles as much as possible during the travel of the photovoltaic array semi-finished product installation equipment 1000, and the safety of the photovoltaic array semi-finished product installation equipment 1000 is improved.

[0135] In some optional embodiments, as shown in FIG. 2, the photovoltaic array semi-finished product installation equipment 1000 further comprises a control device 610 and a collision prevention mechanism 620, and the control device 610 is arranged in the recess 1121 of one of the support units 11a. The collision prevention mechanism 620 of the control device 610 is arranged on the support unit 11a and comprises a plurality of guardrails.

[0136] In these optional embodiments, the collision prevention mechanism 620 can be arranged on the side of the recess 1121 facing the working space, so as to prevent the hoist 900 or the photovoltaic array semi-finished product in the working space from colliding with the control device 610, and the safety of the control device 610 is improved.

[0137] Optionally, the collision prevention mechanism 620 can also be arranged on the side of the recess 1121 away from the working space at the same time, so as to prevent the control device 610 from colliding with the structures in the external environment.

[0138] In some optional embodiments, the walking mechanism assembly 13 comprises a plurality of walking mechanisms, and the bottom beam 112 is hingedly connected to at least one walking mechanism at opposite ends along the travel direction of the main vehicle 100.

[0139] Optionally, the plurality of walking mechanisms can comprise a plurality of track-type walking mechanisms 131, and the bottom beam 112 is hingedly connected to at least one track-type walking mechanism 131 at opposite ends along the travel direction of the main vehicle 100.

[0140] When the ground is uneven, or when going up or down slopes, the at least one walking mechanism can rotate relative to the bottom beam 112, thereby increasing the contact area between the at least one walking mechanism and the ground, effectively avoiding the problem that the walking mechanism is suspended or even unable to move due to bumps in the road, and enhancing the passability of the walking mechanism assembly 13.

[0141] In some optional embodiments, as shown in FIG. 2, FIG. 7 and FIG. 8, the vertical support assembly 11 includes two or more support units 11a arranged at intervals along the sliding direction of the trolley 200. The transverse support assembly 12 is detachably connected with each support unit 11a in the form of an integral piece. The transverse support assembly 12 and the at least one support unit 11a are provided with electronic circuits, and the electronic circuits of the transverse support assembly 12 and the electronic circuits 114 of the support unit 11a are detachably connected through the plug-in connector 14.

[0142] In these optional embodiments, the transverse support assembly 12 and each support unit 11a are independent integral pieces. Before reaching the working environment of the photovoltaic array semi-finished product installation device 1000, the transverse support assembly 12 and each support unit 11a can be independently packaged and transported, and the electronic circuits can be simultaneously attached to the transverse support assembly 12 and the support unit 11a, in other words, the electronic circuits on the transverse support assembly 12 and the support unit 11a can be packaged and transported together with the transverse support assembly 12 or the support unit 11a, saving the wiring operation, reducing the packaging difficulty, and improving the transportation efficiency. After reaching the working environment, the transverse support assembly 12 and each support unit 11a are connected, and the electronic circuits on the transverse support assembly 12 and the support unit 11a are connected through the plug-in connector 14. Since the transverse support assembly 12 and the support unit 11a are both independent modules, there is no need to assemble the beams of the transverse support assembly 12 and the brackets of the support unit 11a, and therefore the assembly efficiency is relatively high. Moreover, there is no need to arrange electronic circuits on the transverse support assembly 12 and the support unit 11a, and only the electronic circuits of the modules need to be plugged in, so the connection speed is relatively fast, further improving the assembly efficiency.

[0143] Optionally, the support unit 11a can include two brackets 111 and a bottom beam 112, both of which are hollow structures. The bottom beam 112 can be provided with a control device 610 or a power device, which is connected with an electronic circuit 114 extending inside the bracket 111 and the bottom beam 112 to the connector 14, avoiding external wiring disorder, easy to twist with other structures and a series of problems. Similarly, the transverse support assembly 12 can include a cross beam 121 and a connecting beam 122, at least part of the cross beam 121 or at least part of the connecting beam 122 is a hollow structure, the connector 14 and the micro-motion device supported by the transverse support assembly 12 can be connected by another electronic circuit, which can be arranged inside the cross beam 121 and / or the connecting beam 122.

[0144] It can be understood that, as another example, the electronic circuit of the transverse support assembly 12 can be attached to at least part of the outer side wall of the transverse support assembly 12, and the electronic circuit 114 of the support unit 11a can be attached to at least part of the outer side wall of the support unit 11a.

[0145] Optionally, the transverse support assembly 12 and each support unit 11a can be detachably connected by screws or other suitable means.

[0146] In some optional embodiments, as shown in FIGS. 2 and 7, the vertical support assembly 11 includes two or more support units 11a arranged at intervals along the sliding direction of the trolley 20. Each support unit 11a includes two or more brackets 111 and at least one auxiliary mounting beam 113, the two or more brackets 111 are arranged at intervals along the traveling direction of the main vehicle 100, and each bracket 111 is connected to the transverse support assembly 12. The auxiliary mounting beam 113 is connected between adjacent brackets 111, and the length of the auxiliary mounting beam 113 along the traveling direction of the main vehicle 100 is adjustable.

[0147] In these optional embodiments, by adjusting the length of the auxiliary mounting beam 113 along the traveling direction of the main vehicle 100, the interval distance of the two brackets 111 along the traveling direction of the main vehicle 100 can be adjusted, so as to adjust the inclination angle of each bracket 111, and then adjust the distance between the two brackets 111 along the vertical direction adjacent to the end of the transverse support assembly 12, facilitating the connection between the support unit 11a and the transverse support assembly 12. After the support unit 11a is connected to the transverse support assembly 12, the auxiliary mounting beam 113 can also play a reinforcing role to improve the structural stability and support strength of the two brackets 111.

[0148] Optionally, the auxiliary mounting beam 113 can be connected to the middle of the vertical direction of the two supports 111 at both ends of the main vehicle 100 running direction, so as to adjust the inclination angle of each support 111. And the two supports 111 are connected in sequence through the bottom beam 112, the auxiliary mounting beam 113 and the transverse support assembly 12 in the vertical direction, the connection position is more balanced, and the connection stability is higher.

[0149] Optionally, the auxiliary mounting beam 113 can include two sections arranged along the main vehicle 100 running direction, one of which is provided with a plurality of connection parts spaced along the main vehicle 100 running direction, for example, the connection part can be a connection hole; The other section is connected to any one or more connection parts of one of the sections. By selecting the connection part position of the connection between the two sections, the length of the auxiliary mounting beam 113 along the main vehicle 100 running direction can be adjusted.

[0150] Exemplarily, the number of auxiliary mounting beams 113 can be one. As another example, the number of auxiliary mounting beams 113 can also be multiple, and multiple auxiliary mounting beams 113 are spaced apart in the vertical direction.

[0151] In some optional embodiments, as shown in FIG. 7, the transverse support assembly 12 includes two or more cross beams 121 spaced along the running direction of the main vehicle 100, each cross beam 121 extending along the sliding direction of the trolley 200 and spanning the vertical support assembly 11. The transverse support assembly 12 further includes two or more connecting beams 122 spaced along the sliding direction of the trolley 200, each connecting beam 122 being connected between adjacent cross beams 121, and each connecting beam 122 including at least three connecting sections 1221 arranged along the running direction of the main vehicle 100, and adjacent connecting sections 1221 being detachably connected.

[0152] In these optional embodiments, the trolley 200 is slidably connected to the two or more cross beams 121. The spacing between adjacent cross beams 121 depends on the length of the connecting beam 122 along the running direction of the main vehicle 100, in other words, by adjusting the length of the connecting beam 122, the spacing between adjacent cross beams 121 can be adjusted, thereby adjusting the slide rail spacing of the trolley 200 to adapt to multiple trolleys 200 of different sizes and different models. Adjacent connecting sections 1221 of the connecting beam 122 are detachably connected, and the length of the connecting beam 122 can be adjusted by replacing at least one connecting section 1221 in the middle, thereby improving the adaptability of the main vehicle 100.

[0153] Optionally, adjacent connecting sections 1221 can be detachably connected by screws or any other suitable means.

[0154] Exemplarily, the number of the cross beams 121 can be two, and the trolley 200 is slidingly connected to the two cross beams 121, which can reduce the interference problem between the trolley 200 and the cross beams 121. The number of the connecting beams 122 can be more than three, two of which are connected between the ends of the two cross beams 121, and at least one of which is connected between the middle of the two cross beams 121, so as to improve the connection strength and support strength of the two cross beams 121.

[0155] In the description of the embodiments of the present application, the term "and / or" is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, m and / or n, which can represent the three cases of m alone, m and n together, and n alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are in an "or" relationship.

[0156] In the description of the embodiments of the present application, the term "a plurality of" means two or more (including two).

[0157] In the embodiments of the present application, "parallel" not only includes the case of absolute parallel, but also includes the case of approximate parallel which is generally recognized in engineering; at the same time, "perpendicular" also not only includes the case of absolute perpendicular, but also includes the case of approximate perpendicular which is generally recognized in engineering. Exemplarily, the included angle between two directions is 85°-90°, which can be considered as the two directions being perpendicular; the included angle between two directions is 0°-5°, which can be considered as the two directions being parallel.

[0158] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A photovoltaic array semi-product installation device, comprising: a main vehicle comprising a vertical support assembly, a lateral support assembly carried on one side of the vertical support assembly along a vertical direction, and a traveling mechanism assembly arranged on the other side of the vertical support assembly along the vertical direction, the lateral support assembly and the vertical support assembly enclosing and constituting a working space; a trolley comprising a trolley frame, the trolley frame being slidably connected to the lateral support assembly of the main vehicle and connectable to a lifting device configured to hoist a photovoltaic array semi-product in the working space, the photovoltaic array semi-product comprising a plurality of photovoltaic panels; a micro-motion device configured to drive the lifting device to move relative to the trolley frame along a first direction and / or a second direction to adjust a position of the lifting device in the first direction and / or the second direction, the first direction, the second direction and the vertical direction intersecting with each other, one of the first direction and the second direction being a traveling direction of the main vehicle and the other being a sliding direction of the trolley frame along the main vehicle.

2. The photovoltaic array semi-finish installation apparatus of claim 1, further comprising: a connecting device configured to connect the lifting device; the micro-motion device being arranged on the trolley frame, at least a part of the connecting device being fixed on the micro-motion device, the micro-motion device being slidably connected to the trolley frame along the first direction and / or the second direction to drive the at least a part of the connecting device to move, thereby driving the lifting device to move. 3.The photovoltaic array semi-product installation device according to claim 2, wherein the micro-motion device comprises a first micro-motion mechanism and a second micro-motion mechanism, the first micro-motion mechanism being slidably connected to the trolley frame along the first direction, the second micro-motion mechanism being slidably connected to the first micro-motion mechanism along the second direction, at least a part of the connecting device being fixed on the second micro-motion mechanism. 4.The photovoltaic array semi-product installation device according to claim 3, wherein the first micro-motion mechanism comprises at least one support frame supporting the second micro-motion mechanism and being slidably connected to the trolley frame, the at least one support frame being slidable in the same direction along the first direction to drive the second micro-motion mechanism and the lifting device to move along the first direction; the second micro-motion mechanism comprises a first carrier frame and a second carrier frame for carrying the connecting device, the first carrier frame and the second carrier frame being oppositely arranged in the first direction and slidably connected to the first micro-motion mechanism, the first carrier frame and the second carrier frame being configured to be slidable in the same direction along the second direction to drive the lifting device to move along the second direction and to be reversibly slidable along the second direction to drive the lifting device to rotate in a horizontal plane. 5.The photovoltaic array semi-product installation device according to claim 4, further comprising a first driving mechanism and a second driving mechanism: The first driving mechanism comprises at least one driving unit, the driving unit comprises a first power module, the first power module is arranged on the vehicle frame and connected to the at least one support frame to drive the at least one support frame to slide in the first direction; or the first driving mechanism comprises a first power module and a first transmission assembly, the first power module is arranged on the vehicle frame, and the first transmission assembly is configured to transmit power output by the first power module to the at least one support frame to drive the at least one support frame to slide in the first direction; The second driving mechanism comprises two driving modules respectively driving the first bearing frame and the second bearing frame, each driving module comprises a second power module, the second power module is arranged on the first micro-motion mechanism and connected to the first bearing frame or the second bearing frame to drive the first bearing frame or the second bearing frame to slide in the second direction; or each driving module comprises a second power module and a second transmission assembly, the second power module is arranged on the first micro-motion mechanism, and the second transmission assembly is configured to transmit power output by the second power module to the first bearing frame or the second bearing frame to drive the first bearing frame or the second bearing frame to slide in the second direction.

6. The photovoltaic array semi-finished product mounting device according to any one of claims 1-5, wherein The lifting appliance comprises a frame assembly and a suction assembly, the suction assembly comprises a plurality of suction cups distributed on the frame assembly to suck a plurality of photovoltaic panels of the photovoltaic array semi-finished product.

7. The photovoltaic array semi-finished product mounting device according to claim 6, wherein The lifting appliance further comprises at least two vacuum-pumping assemblies for the plurality of suction cups, the suction cups connected to the same vacuum-pumping assembly are in the same passage, and each vacuum-pumping assembly independently operates to independently provide negative pressure to the corresponding passage.

8. The photovoltaic array semi-finished product mounting device according to claim 7, wherein The frame assembly comprises at least one main beam and a plurality of auxiliary beams, the plurality of auxiliary beams are distributed along the extension direction of the main beam and arranged intersecting the main beam, and the plurality of suction cups are distributed on the auxiliary beams; At least four suction cups suck a single photovoltaic panel, and the at least four suction cups correspond to at least two vacuum-pumping assemblies.

9. The photovoltaic array semi-finished product mounting device according to claim 6, wherein The lifting appliance further comprises a distance measuring member mounted on the frame assembly, and the distance measuring member is configured to output measurement information related to the compression degree of the suction cups.

10. The photovoltaic array semi-finished product mounting device according to any one of claims 1-5, 7-9, further comprising: A detection device arranged on the main vehicle and / or the trolley and configured to detect position information of a photovoltaic support for mounting the photovoltaic array semi-finished product to determine a target stopping position of the trolley.

11. The photovoltaic array semi-finished product mounting device according to claim 10, wherein The detection device is further configured to detect position information of the photovoltaic array semi-product; The photovoltaic array semi-product mounting device further comprises a control mechanism connected to the micro-motion device and configured to drive the micro-motion device to move along the first direction and / or the second direction according to the position information of the photovoltaic array semi-product and the photovoltaic support when the trolley stops at the target stop position and the photovoltaic array semi-product and the photovoltaic support are not horizontally aligned.

12. The photovoltaic array semi-product mounting device according to any one of claims 1-5, 7-9, 11, wherein, The walking mechanism assembly comprises a plurality of walking mechanisms, and the plurality of walking mechanisms comprises at least one caterpillar walking mechanism.

13. The photovoltaic array semi-product mounting device according to claim 12, wherein, The plurality of walking mechanisms comprises four or more caterpillar walking mechanisms, and the four or more caterpillar walking mechanisms are distributed at one side of the vertical support assembly along the vertical direction.

14. The photovoltaic array semi-product mounting device according to claim 12, wherein, The caterpillar walking mechanism is hinged to the vertical support assembly and comprises a caterpillar walking unit and a driving unit in one-to-one correspondence, the caterpillar walking unit comprises a driving wheel, a driven wheel and a caterpillar belt, and the driving unit comprises a power output module configured to provide power to the driving wheel, and the driving wheel drives the driven wheel to rotate via the caterpillar belt.

15. The photovoltaic array semi-product mounting device according to any one of claims 1-5, 7-9, 11, 13, 14, wherein, The part of the car frame extends out of the transverse support assembly along the running direction of the main car.

16. The photovoltaic array semi-product mounting device according to claim 15, wherein, The car frame comprises a first section, a second section and a third section distributed side by side in sequence along the running direction, and the first section and the third section extend out of the transverse support assembly in opposite directions along the running direction, respectively.

17. The photovoltaic array semi-product mounting device according to claim 16, wherein, The length of the first section along the running direction is the same as the length of the third section along the running direction.

18. The photovoltaic array semi-product mounting device according to any one of claims 1-5, 7-9, 11, 13, 14, 16, 17, wherein, The vertical support assembly comprises two or more support units arranged at intervals along the sliding direction of the car frame, and each support unit comprises two supports distributed at intervals along the running direction, and each support is connected to the transverse support assembly. The two supports of each support unit extend in opposite directions along the running direction from bottom to top.

19. The photovoltaic array semi-product mounting device according to any one of claims 1-5, 7-9, 11, 13, 14, 16, 17, wherein, The vertical support assembly comprises two or more support units arranged at intervals along the sliding direction. Each of the support units comprises two or more supports spaced apart along the advancing direction, each of the supports being connected to the lateral support assembly; and at least one bottom beam connected between end portions of adjacent supports along the vertical direction adjacent to the walking mechanism assembly.

20. The photovoltaic array semi-finished product mounting device according to claim 19, wherein, the bottom beam is provided with a recess in a middle portion along the advancing direction, the recess being recessed towards a walking surface of the walking mechanism assembly to provide an accommodation space; an outer bottom wall of the recess is higher than a bottom portion of the walking mechanism assembly along the vertical direction.

21. The photovoltaic array semi-finished product mounting device according to claim 20, further comprising: a control device provided in the recess of one of the support units; a crash prevention mechanism of the control device provided in the support unit and comprising a plurality of guardrails.

22. The photovoltaic array semi-finished product mounting device according to claim 19, wherein, the walking mechanism assembly comprises a plurality of walking mechanisms, and the bottom beam is hingedly connected to at least one of the walking mechanisms at opposite ends along the advancing direction.

23. The photovoltaic array semi-finished product mounting device according to any one of claims 1-5, 7-9, 11, 13, 14, 16, 17, 20-22, wherein, the vertical support assembly comprises two or more support units spaced apart along the sliding direction; the lateral support assembly is detachably connected to each of the support units in an integral piece; and the lateral support assembly and at least one of the support units are provided with electronic circuits, and the electronic circuits of the lateral support assembly and the support unit are detachably connected through a plug-in connector.

24. The photovoltaic array semi-finished product mounting device according to any one of claims 1-5, 7-9, 11, 13, 14, 16, 17, 20-22, wherein, the vertical support assembly comprises two or more support units spaced apart along the sliding direction; each of the support units comprises two or more supports spaced apart along the advancing direction, each of the supports being connected to the lateral support assembly; and at least one auxiliary mounting beam connected between adjacent supports, the auxiliary mounting beam being adjustable in length along the advancing direction.

25. The photovoltaic array semi-finished product mounting device according to any one of claims 1-5, 7-9, 11, 13, 14, 16, 17, 20-22, wherein, the lateral support assembly comprises two or more lateral beams spaced apart along the advancing direction, each of the lateral beams extending along the sliding direction across the vertical support assembly; the lateral support assembly further comprises two or more connecting beams spaced apart along the sliding direction, each of the connecting beams being connected between adjacent lateral beams, and each of the connecting beams comprising at least three connecting sections arranged along the advancing direction, adjacent connecting sections being detachably connected.

Images